A Time Optimal Route Planning Method Based on Improved Level Set Algorithm

Abstract

The present invention provides a time-optimal route planning method based on an improved level set algorithm. The method comprises: 1, constructing a three-dimensional route planning environmental space; 2, initializing a level set function as a symbol distance function, and setting the AUV navigation starting point on a zero level set; 3, constructing a level set evolution equation considering the influence of the ocean current on the AUV navigation, and constructing a narrow band at the starting point and setting a prohibited area; 4, evolving a level set function according to the level set equation established in the step 3, and storing the zero level set interface of each time step length; 5, determining whether a target point is in the current narrow-band range or not; 6, reconfiguring the narrow band, and employing an improved fast marching method to reinitialize the level set function to be a symbol distance function; and 7, employing a back iterative equation, obtaining the time-optimal route of the AUV, and outputting an optimal route. Through adoption of an ocean current reanalysis database, the time-optimal route planning method based on the improved level set algorithm generates an ocean current field and fully considers the influence of the ocean current in the route planning to allow the planning route to have high practicality.

Description

technical field [0001] The invention relates to a three-dimensional path planning method for an underwater autonomous vehicle (AUV). Background technique [0002] When AUVs plan underwater routes, in addition to considering the path length, obstacle information, and smoothness of the path, the influence of ocean current elements also needs to be considered. The speed and direction of the ocean current will affect the sailing time and energy consumption of the underwater vehicle, especially when the vehicle is slow, the influence of the ocean current on the movement of the vehicle must be considered when planning its route. Try to make the vehicle sail along the current, make full use of the propulsion of the ocean current field, reduce the energy loss caused by the AUV's countercurrent navigation, and plan a path with less energy loss and optimal time. In recent years, many scholars at home and abroad have studied the AUV route planning method considering the influence of o...

AI Technical Summary

Problems solved by technology

Most of the previous route planning algorithms only consider the influence of static ocean currents, and the effect is not ideal in a dynamic environment, which makes the application range of these algorithms limited. However, the level set method can be easily extended from two-dimensional space to three-dimensional space and is very good. The application of dynamic fluid motion, especially in underwater route planning has achieved good results

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